curvature_keypoints.hpp

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#pragma once
 
#include <cpp-toolbox/cpp-toolbox_export.hpp>
#include <cpp-toolbox/pcl/features/base_feature_extractor.hpp>
#include <cpp-toolbox/pcl/knn/kdtree.hpp>
#include <cpp-toolbox/pcl/knn/bfknn_parallel.hpp>
#include <cpp-toolbox/metrics/vector_metrics.hpp>
 
namespace toolbox::pcl
{
 
template<typename DataType, typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>
class CPP_TOOLBOX_EXPORT curvature_keypoint_extractor_t
    : public base_keypoint_extractor_t<curvature_keypoint_extractor_t<DataType, KNN>,
                                       DataType,
                                       KNN>
{
public:
  using base_type = base_keypoint_extractor_t<curvature_keypoint_extractor_t<DataType, KNN>,
                                              DataType,
                                              KNN>;
  using data_type = typename base_type::data_type;
  using knn_type = typename base_type::knn_type;
  using point_cloud = typename base_type::point_cloud;
  using point_cloud_ptr = typename base_type::point_cloud_ptr;
  using indices_vector = typename base_type::indices_vector;
 
  curvature_keypoint_extractor_t() = default;
 
  std::size_t set_input_impl(const point_cloud& cloud);
  std::size_t set_input_impl(const point_cloud_ptr& cloud);
  
  std::size_t set_knn_impl(const knn_type& knn);
  
  std::size_t set_search_radius_impl(data_type radius);
  
  void enable_parallel_impl(bool enable);
 
  indices_vector extract_impl();
  void extract_impl(indices_vector& keypoint_indices);
  point_cloud extract_keypoints_impl();
  void extract_keypoints_impl(point_cloud_ptr output);
 
  void set_curvature_threshold(data_type threshold) { m_curvature_threshold = threshold; }
  
  void set_min_neighbors(std::size_t min_neighbors) { m_min_neighbors = min_neighbors; }
  
  void set_non_maxima_radius(data_type radius) { m_non_maxima_radius = radius; }
 
  [[nodiscard]] data_type get_curvature_threshold() const { return m_curvature_threshold; }
  
  [[nodiscard]] std::size_t get_min_neighbors() const { return m_min_neighbors; }
  
  [[nodiscard]] data_type get_non_maxima_radius() const { return m_non_maxima_radius; }
 
private:
  struct CurvatureInfo
  {
    data_type principal_curvature_1;  
    data_type principal_curvature_2;  
    data_type mean_curvature;         
    data_type gaussian_curvature;     
    data_type curvature_magnitude;    
  };
 
  CurvatureInfo compute_curvature(std::size_t point_idx);
  
  std::vector<CurvatureInfo> compute_all_curvatures();
  
  indices_vector apply_non_maxima_suppression(const std::vector<CurvatureInfo>& curvatures);
  
  void compute_curvatures_range(std::vector<CurvatureInfo>& curvatures, 
                               std::size_t start_idx, 
                               std::size_t end_idx);
 
  // 成员变量 / Member variables
  bool m_enable_parallel = false;                              
  data_type m_search_radius = static_cast<data_type>(1.0);    
  data_type m_curvature_threshold = static_cast<data_type>(0.01); 
  data_type m_non_maxima_radius = static_cast<data_type>(0.5);    
  std::size_t m_min_neighbors = 10;                           
  
  point_cloud_ptr m_cloud;                                     
  knn_type* m_knn = nullptr;                                   
 
  static constexpr std::size_t k_parallel_threshold = 1000;
};  // class curvature_keypoint_extractor_t
 
}  // namespace toolbox::pcl
 
#include <cpp-toolbox/pcl/features/impl/curvature_keypoints_impl.hpp>